Intermittent circular motion of the ratchet-wheel from vibratory…
Intermittent circular motion of the ratchet-wheel from vibratory motion of the arm carrying a pawl.
Only the input is driven; every other part of this model moves by physics (MuJoCo), and its ratios are measured. Run it live, change its parameters, or switch the friction off to see the output stop.
- Modelled as
- A 30-tooth ratchet-wheel (tips 8, roots 7) turns on a fixed centre against a little bearing friction. An arm on the same centre is rocked by hand, 0.344 rad either way at 0.5 Hz; it is the only driven joint. A pin on the arm, 10.2 from the centre, carries the pawl, which lies by its weight among the teeth at the top of the wheel. As the arm swings to the right, the pawl pushes a tooth and the wheel turns three teeth clockwise. As it swings back, the pawl rides over the backs of the teeth and the wheel stands.
- Measured
- The wheel advances -0.309 rad per beat of the arm (expect -0.314, three teeth each to-and-fro) and never runs back by more than 0.04 degrees. Max penetration 0.18 mm.
- Notes
- The plate gives no sizes. The wheel's bearing friction (frictionloss 0.01) keeps the pawl from dragging it back on the return stroke; there is no retaining click, as the description names none.
Film (MP4) · Still (PNG) · Spec (YAML) · Model (MJCF)
